JP6639731B2 - Hook assembly to install hook posture detection carrier - Google Patents

Description

  The hook assembly and the crane for installing the hook posture detection carrier belong to the crane technical field, and are specifically a mobile crane to which the hook assembly of the hook posture detection carrier is mounted.

  Unmanned aerial vehicles are flying in the sky, and self-driving vehicles are also being tested on the road.However, the operator of the mobile crane cannot determine whether the hoisting pulley device is in a vertical state during the rigging operation, and There is a drawback that the conductor directs the operation of the driver using information provided by the vertical sling operator monitoring the suspended load, which is inappropriate and inaccurate.

  Large equipment slinging work process standard The crane slinging process of Article 9.1.4 conforms to the rule of “the hook angle is 3 ° or less during slinging operation” and the petrochemical project lifting work specification No. 12. According to the provisions of Article 2.13, "When lifting a work with a mobile crane, the hook angle must not exceed 3 °." The reason that the hook angle cannot be accurately detected is not that there is no instrument for detecting the hook angle, but that the crane performs the slinging operation through the hoisting pulley device. Therefore, how to realize accurate detection of the hook angle in the hoisting pulley device is an important problem.

  It is an object of the present invention to provide a hook assembly for installing a hook state detection carrier under load, and another object is to provide a mobile crane to which the hook assembly for installing the hook state detection carrier is mounted. That is. The hook assembly is also suitable for other cranes that have requirements such as accurate measurement of the hook angle.

  The crane hook angle measurement is always obtained by measuring the angle of the lifting rope from the lifting rope (hook wire rope, the same applies hereinafter), or detecting the vertical posture of the hook using machine vision technology It is. Machine vision technology is limited in various conditions, such as simultaneous vision, light rays, and surrounding environment, and thus is difficult to be generally used for measuring the angle of the mobile crane hook. However, as a solution for measuring the hook angle from the lifting rope, one lifting rope is selected from a plurality of lifting ropes of the pulley device as a measurement target, and the wire rope of the pulley device penetrates smoothly during sling work. However, it can be observed that the wire rope and the lifting rope are not parallel to each other, and that there is a relative rotation between the axes of the coaxial constant pulley and the moving pulley. The cause is that the axis of the constant pulley is fixed to the jib, but the axial direction of the moving pulley changes due to the direction of movement of the hook and the action and restriction of the force of the suspended load.

  By relatively turning around the line of action of the hoisting force of the pulley device between the constant pulley of the pulley device and the axis of the moving pulley, the hoisting rope of the pulley device makes the lifting force of the hoisting force as a rotation center axis. The hook line is deviated from the line of action, and the hook angle is the angle between the line of action of the hoisting force of the pulley device and the vertical line. Therefore, the angle between the hoisting force acting line and the hoisting rope is measured as a hook angle which is the angle between the hoisting force acting line of the pulley device and the vertical line. That is, for a mobile crane that can only operate with a hook angle of less than 3 °, the deviation can reach a point where it loses the meaning of the measurement, and this is no mistake, and the measurement of the hook angle is of particular importance. The literature, which offers a variety of clever solutions for angle measurement from lifting ropes, is often seen, but may be the reason not previously applied to cranes.

  The pulley device and the hook component of the pulley device are connected to each other, and the hoisting operation of the pulley device is biased at the application point of the hoisting force of the pulley device acting on the coaxial dynamic pulley axis. A deviation occurs when the hook angle is measured by being attached to the hook assembly of the pulley device. The line of action of the hoisting force of the pulley device is the line of action of the resultant force of the hoisting forces of the respective pulleys of the pulley device. The point of application of the hoisting force of the pulley device is the point of application of the resultant force of the hoisting forces of the respective pulleys of the pulley device.

  The hoisting operation of the pulley device acts on the axis of the coaxial moving pulley, causing a bias in the point of application of the hoisting force of the pulley device, and the pulley bearing friction coefficient of the pulley device and the number of pulleys of the pulley device are directly Related. When the number of pulleys of the pulley device is doubled, the hoisting operation of the pulley device is caused by a bias generated at the point of application of the hoisting force of the pulley device acting on the axis of the coaxial moving pulley, so that the hook assembly has an angle with respect to the hook angle. Measurement deviation is too large.

  When the cause is determined, the number of pulleys of the pulley device is doubled, and the lifting operation of the pulley device is applied to the axis of the coaxial moving pulley. It moves along the inclination angle from the axial direction of the moving pulley. Also, since the moving pulley component and the hook component are directly connected to the protective plate or plate, the hook component is moved by moving along the inclination angle from the axial direction of the moving pulley, so that the angle attached to the hook assembly is changed. The measuring device reacts incorrectly to changes due to the swinging of the non-pulley device. In addition, since the hook angle of the mobile crane is measured only within 3 °, there is no point in measuring an excessively large deviation.

  Since the applied point of the resultant force of the lifting load acting on the hook is biased, a deviation occurs when the angle measuring device is mounted on the hook assembly of the pulley device and the hook angle is measured.

  The lifting load is applied to the hook via the wire rope, and since there are a plurality of ropes, the resultant force of the lifting load acting on the hook is not always on the axis of the hook shank, and the hook is centered on the vertical axis. Because of this, the point of action of the resultant force of the lifting load acting on the hook may be deviated in each direction. Similarly, the moving pulley component and the hook component are directly connected to each other via the protection plate or the plate. Due to the connection, the movement of the hook component due to the deviation of the resultant point of application of the lifting load acting on the hook also causes the movement of the moving pulley component. Therefore, the point of application of the resultant force of the lifting load acting on the hook is deviated, and the reaction of the angle measuring device mounted on the hook assembly to the change due to the deflection of the non-pulley device is wrong.

  The three-stage hook assembly is characterized in that a one-stage connecting part is connected in series between a moving pulley part and a hook part, and a hinge shaft is provided at each end of the connecting part. A hinge shaft connected to the pulley part and the hook part, and the moving pulley part being connected to the connection part, is provided in a direction perpendicular to the axis of the coaxial moving pulley, and the hook part is connected to the connecting part. Is provided in a direction perpendicular to the hinge axis of the hook beam.

  Preferably, the moving pulley component c1 of the three-stage hook assembly is connected to the hook component c7 via the both-side connecting plate c3, and the hinge shaft c2 of the moving pulley component c1 and the both-side connecting plate c3, and the both-side connecting plate c3 are connected to each other. By providing the hinge axis c4 with the hook component c7 in a direction perpendicular to the axis of the coaxial moving pulley, the hook along the axis of the moving pulley due to non-hook swing during the hoisting operation of the hoisting pulley device. In the event of a change in the angle, when the moving pulley component adjusts itself along the hinge axis under the action of the lifting load tension of the hoisting pulley device, the axis of the moving pulley will tilt slightly, The pulley component receives only the pulling force. At the same time, since the hinge axis c6 of the hook beam is provided in a direction parallel to the axis of the coaxial moving pulley, the bias of the point of application of the resultant force of the lifting load of the hook depends on the rotation of the hinge axis c6 of the hook beam and the hook. When the part is self-adjusted by pivoting about a hinge axis c4 perpendicular to the axis of the coaxial running pulley, the hook axis is slightly tilted and the hook part c7 receives only tensile force.

  At the same time, one end of the connection component and the moving pulley component are connected in series only by receiving the pulling force, and at the same time, the other end of the connection component and the hook component are connected in series only by receiving the pulling force. It is as follows.

  First, the line of action of the hoisting force of the hoisting pulley device must pass through the connecting part. In the case where a flat platform whose action line of the hoisting force of the hoisting pulley device is perpendicular to the flat platform surface is fixed to the connection component, the line of action of the hoisting force of the hoisting pulley device and the flat platform surface are always set when the hoist is pulled up. It is vertical. When an angle measuring device is fixed to the flat base surface of the connecting part, the angle between the flat base surface and the horizontal plane perpendicular to the line of action of the hoisting force of the hoisting pulley device to be measured is a real-time hook angle and a numerical value. Equal.

  Secondly, the real-time hook angle measured on the flat platform surface of the connecting component is independent of the change in the inclination angle of the moving pulley from the axial direction due to the lifting / lowering operation of the hoisting pulley device. It is determined by the angle formed in real time between the line of action of the hoisting force of the hoisting pulley device and the vertical line, regardless of the bias at which the point of action of the resultant hoisting load acting acts.

Thus, a three-stage hook assembly creates conditions for accurate detection of hook swaying postures and the like.
(1) Provide a flat platform perpendicular to the line of action of the hoisting force of the hoisting pulley for detecting the swinging state of the hook.
When the hook component has a hook angle of 0 ° and a flat base having a horizontal surface fixed to the connecting part of the hook assembly, the action line of the hoisting force of the hoisting pulley device is perpendicular to the plane of the flat base surface. The swinging state of the hook can be accurately detected by the flat base surface. After mounting a biaxial inclinometer on the flat base surface and synthesizing the components of the real-time hook angles in the X and Y-axis directions to be measured, a real-time hook angle is obtained.
(2) Provide a straight line parallel to the line of action of the hoisting force of the hoisting pulley device for detecting the swinging state of the hook.
When a flat base having a hook angle of 0 ° and a flat base surface is fixed to the connecting part of the hook assembly, and a straight line perpendicular to the flat base surface is fixed to the flat base surface, the straight line is fixed to the hoisting pulley. It is a parallel line of the line of action of the hoisting force of the device. Therefore, by mounting the detecting device on a straight line perpendicular to the flat base surface, the swinging state of the hook and the like can be accurately detected.

  The point of application of the hoisting force of the pulley device, which acts on the axis of the coaxial moving pulley when the hoisting operation of the pulley device is performed, is biased, and is directly related to the number of pulleys of the pulley device. When the number of pulleys of the pulley device is small, the hoisting operation of the pulley device due to the bias generated at the point of application of the hoisting force of the pulley device acting on the axis of the coaxial moving pulley makes it possible to measure the hook angle of the hook assembly with respect to the hook angle. The deviation is a normal deviation. Accordingly, a two-stage hook assembly is characterized in that the moving pulley part d1 and the hook part d5 are connected by a hinge axis d2, and the hinge axis d2 is provided in a direction perpendicular to the axis of the coaxial moving pulley. , The hinge axis d4 of the hook beam is parallel to the axis of the coaxial moving pulley.

  The deviation of the point of application of the resultant force of the lifting load acting on the hook is caused by the rotation of the hinge axis d4 of the hook beam and the rotation of the hook part d5 about the hinge axis d4 perpendicular to the axis of the coaxial moving pulley. When the self-adjustment is performed, the hook axis is slightly inclined and the hook part d5 receives only the pulling force.

  Since the moving pulley parts of the two-stage hook assembly are connected in series only by the pulling force, similarly to the hook parts, an angle measuring device for measuring the hook angle in real time on the pulley parts (for example, a protection plate) of the moving pulley. Can be attached. Therefore, irrespective of the bias generated at the point of application of the resultant force of the lifting load acting on the hook, and because the number of pulleys of the pulley device is small, the axial displacement of the moving pulley is treated as a negligible amount. Will be

  The three-stage hook assembly or the two-stage hook assembly is used to detect a swinging state of the hook by the connecting part or the protection plate under a lifting load on a mobile crane.

  The three-stage hook assembly or the two-stage hook assembly also applies to other cranes that have a requirement to accurately measure the hook angle.

  The advantageous effects of the hook assembly and the crane for installing the hook attitude detection carrier are as follows. First, the hook assembly for installing the hook attitude detection carrier causes the bias of the hoisting force of the pulley device to act on the hook. Solving the restriction on the measurement of the hook angle from the deviation of the point of action of the resultant force of the lifting load, and realizing accurate detection of the swinging state of the hook. Second, a hook assembly for installing the hook state detection carrier Becomes a unified mechanism for mounting the hook angle measuring device under the lifting load, and a large space for mounting the hook angle measuring device is formed inside the both side connecting plates, so that the device has a large capacity. Third, it is easy to install and protect the rechargeable battery. By installing the hook assembly to be placed and accurately measuring the hook angle, the information from the vertical sling operator who monitors the suspended load is used by the sling conductor and the improper time when commanding the operation of the driver. It solves the disadvantage of inaccuracy and provides the essential conditions for the further development of said mobile crane.

FIG. The symbols are B1 fixed pulley, B2 moving pulley, B3 wire rope, B4 protection plate, B5 hook, and B6 jib. Hook assembly structural drawing. The symbols are A1 moving pulley, A2 pulley shaft, A3 bearing, A4 protection plate, A5 nut, A6 bearing, A7 beam shaft, A8 plate, and A9 hook. It is a three-stage hook assembly structural diagram, the right part of the figure is the right side view of the left part It is a two-stage hook assembly structural diagram, the right part of the figure is the right view of the left part Explanatory diagram for measuring the hook angle from the line of action of the hoisting force

Embodiment 1 provides a three-stage hook assembly.
As shown in FIG. 3, the moving pulley component c1 of the three-stage hook assembly is connected to the hook component c7 via both side connecting plates c3, and a hinge shaft c2 between the moving pulley component and both side connecting plates, and both side connecting plates. A hinge shaft c4 of the hook component and the hook component is provided in a direction perpendicular to the axis of the coaxial moving pulley, and a thrust bearing is pressed by a hook tightening nut c5 to support the hinge shaft c6 (also referred to as a beam shaft). Because it can pivot along the vertical axis of the hook shank (also referred to as the hook axis), the axis of the moving pulley can pivot with respect to the hook along the vertical axis of the hook shank. When the hook angle fluctuates due to the swing of the non-hook during the hoisting and pulling operation of the hoisting pulley device, when the self-adjustment is performed by the hinge axis c2 perpendicular to the axis of the coaxial moving pulley, the axis of the moving pulley is slightly On the other hand, the moving pulley component c1 receives only the pulling force, and the deviation of the applied point of the resultant force of the lifting load acting on the hook is caused by the rotation of the hinge shaft c6 parallel to the coaxial moving pulley axis and the hook component. Is self-adjusted by pivoting about a hinge axis c4, which is perpendicular to the axis of the coaxial moving pulley, the hook axis is slightly tilted and the hook part c7 receives only tensile force.

  The three-stage hook assembly is connected in series by a both-side connecting plate c3 provided with hinge shafts at both ends, a moving pulley part c1 receiving the same tensile force, and a hook part c7 receiving the tensile force, respectively. A condition is set for accurate detection of the swinging state of the hook, and the hook is attached to the hook irrespective of the fluctuation of the inclination angle of the moving pulley in the axial direction due to the ascent / descent operation of the hoisting pulley device only by providing the connecting plate c3. Since it is not related to the bias generated at the point of application of the resultant force of the lifting load acting, the swinging state of the hook can be accurately detected. For example, a flat table c8 having a hook angle of 0 ° and a horizontal flat surface is mounted on the connecting part of the hook assembly, and a biaxial dynamic inclinometer c9 is mounted on the horizontal flat surface to form the horizontal flat surface with the horizontal flat surface. Combines into a real-time hook angle equal to the angle.

  In addition, since a large space for mounting the hook angle measuring device is formed inside the connecting plates on both sides, it is easy to mount and protect a large-capacity rechargeable battery in the device. Under the lifting load, an accurate detection condition of the swinging state of the hook is created, and an integrated mechanism for mounting the detection device is provided.

Embodiment 2 provides a two-stage hook assembly.
As shown in FIG. 4, the two-stage hook assembly has a moving pulley part d1 and a hook part d5 connected by a hinge shaft (d2), and the hinge shaft (d2) is moved in a direction perpendicular to the axis of the coaxial moving pulley. At the same time, it satisfies that the hinge axis (d4) of the hook beam is parallel to the axis of the coaxial moving pulley.

  The deviation of the point of application of the resultant force of the lifting load of the hook is adjusted by the rotation of the hinge axis d4 of the hook beam and the rotation of the hook component about the hinge axis d2 perpendicular to the axis of the coaxial moving pulley. When performed, the hook axis is slightly inclined and the hook part d5 receives only the pulling force.

  Since the moving pulley components of the two-stage hook assembly are connected in series only by the pulling force similarly to the hook components, it is possible to measure the hook angle of the pulley components (for example, the protection plate) of the moving pulley in real time. In this case, irrespective of the deviation generated at the point of application of the resultant force of the lifting load acting on the hook, and because the number of pulleys of the pulley device is small, the axial displacement of the moving pulley can be ignored as a small amount. Will be treated.

In the third embodiment, the swinging state of the hook can be accurately detected by using an angle measuring device on the connecting plate of the three-stage hook assembly.
The angle measuring device is mounted on a flat platform perpendicular to the hoisting force of the connecting part and the hoisting pulley device, and the measured value of the angle between the flat platform and the horizontal plane is equal to the hook angle in real time.

  As shown in FIG. 5, suppose that the intersection angle between the line of action m of the hoisting force passing through the hook point b and the vertical line n passing through the hook point b is Δb, and the line of action m of the hoisting force of the pulley device is m. Assuming that the angle between the flat base surface W and the horizontal plane Z is perpendicular to ∠a, as shown in FIG. 5, the legs of the perpendiculars lowered to the two planes W and Z from the point b of the angle between the two planes are denoted by C and C, respectively. D, Ca is created in the plane passing through the point C at the intersection L of the plane W and the plane Z, and the leg of the perpendicular is set to the point a, and Da is connected.

∵L⊥Ca, L⊥bC, ⊥L⊥ face bCa, ∴L⊥ba, and ∵L⊥bD, ∴L⊥face bDa, ∴L⊥Da,
∴∠CaD is the plane angle of the angle between the two planes, the quadrilateral aCbD is on the same plane as the straight lines m and n, and ∠C = ∠D = 90 °
Therefore, ∠a (complementary with ∠CbD) is equal to the acute angle ∠b at which the straight lines m and n intersect.

  From the above, the real-time hook angle between the line of action of the hoisting force of the hoisting pulley device and the vertical line is determined by the flat base surface and the horizontal plane perpendicular to the line of action of the hoisting force of the hoisting pulley device. It can be seen that the hook angle equal to the angle formed and the real-time hook angle is on the same plane as the two plane angles formed by the flat platform surface and the horizontal plane perpendicular to the line of action of the hoisting force of the hoisting pulley device.

Therefore, the flat base surface or the pulley device is provided by installing a flat base surface perpendicular to the line of action of the hoisting force of the pulley device or a straight line parallel to the line of action of the hoisting force of the pulley device on the connecting component. An angle measuring device for detecting the swinging state of the hook can be attached to a straight line parallel to the line of action of the hoisting force.
The above description is merely illustrative of the embodiment of the present invention, and various changes and modifications of the present invention are within the protection scope of the present invention for those skilled in the art.

Claims (11)

A hook assembly for installing a hook posture detection carrier,
The hook assembly is a three-stage hook assembly configured to connect a one-stage connecting component between the moving pulley component and the hook component in series, and a hinge shaft is provided at each end of the connecting component with the moving pulley. A hinge shaft connected to the component and the hook component, and the moving pulley component being connected to the connecting component, is provided in a direction perpendicular to the axis of the moving pulley of the moving pulley component , and the hook component is connected to the hook component. A hinge axis connected to the component is provided in a direction perpendicular to the hinge axis of the hook beam, and a flat platform surface perpendicular to the line of action of the hoisting force of the pulley device is provided on the connection component in order to detect the swinging state of the hook. Alternatively, a hook assembly for installing a hook posture detection carrier, comprising installing a straight line parallel to the line of action of the hoisting force of the pulley device. Said movable pulley parts of 3-stage hook assembly (c1) are connected via a bilateral coupling plate (c3) the hook component (c7), the movable pulley part (c1) and both side connecting plate (c3) and the hinge axis ( c2) and the hinge axis (c4) of the both-side connecting plate (c3) and the hook component (c7) is provided in a direction perpendicular to the axis of the movable pulley of the movable pulley component (c1) , and The hook assembly according to claim 1, wherein the hinge shaft (c6) is provided in a direction parallel to the axis of the moving pulley of the moving pulley component (c1) . The angle between the flat platform surface and the horizontal plane perpendicular to the line of action of the hoisting force of the pulley device, or the angle between the straight line and the vertical line parallel to the line of action of the hoisting force of the pulley device in real time is a real-time angle. A hook assembly for installing the hook posture detection carrier according to claim 1, wherein the hook posture detection carrier is numerically equal to the hook angle. The swinging state of the hook is detected by measuring the angle formed in real time between the flat platform and the horizontal plane perpendicular to the line of action of the hoisting force of the pulley device, and a dual-axis inclinometer is mounted on the flat platform to measure. The hook assembly according to claim 3, wherein a real-time hook angle is obtained after combining the components of the hook angle in the X and Y-axis directions. The direction of the hook angle is perpendicular to the real-time intersection line between the flat platform and the horizontal plane perpendicular to the line of action of the hoisting force of the pulley device, and the flat platform and the horizontal plane perpendicular to the line of action of the hoisting force of the pulley device. 5. The hook assembly according to claim 4, wherein the angle formed in real time is on the same plane as the angle formed in real time as the hook angle between the line of action of the hoisting force of the pulley device and the vertical line. A hook assembly for installing a hook state detection carrier, wherein the hook assembly is a two-stage hook assembly configured such that a moving pulley component (d1) and a hook component (d5) are connected by a hinge shaft (d2) . The hinge shaft (d2) is provided in a direction perpendicular to the axis of the moving pulley of the moving pulley component (d1) , and at the same time, the hinge axis (d4) of the hook beam is mounted on the moving pulley of the moving pulley component (d1) . met it is parallel to the axis, installing a hook pose detection carrier, characterized in that it includes mounting the angle measuring device for measuring the real-time hook angles movable pulley protection plate of the movable pulley part (d1) Hook assembly. A mobile crane, comprising a hook assembly having a hook attitude detection carrier, wherein the hook assembly is configured to serially connect a one-stage coupling component between a moving pulley component and a hook component. A hinge shaft connected to the moving pulley component and the hook component at each end of the connecting component, and a hinge shaft connected to the connecting component connected to the moving pulley component . At the same time provided in the direction perpendicular to the axis of the pulley, the hinge axis which the hook part is connected to the connecting part, only set in the direction perpendicular to the hinge axis of the hook beam, for detecting the swinging figure hook, wherein the connecting parts, mobile crane, characterized in that it comprises placing a straight line parallel to the hoisting force line of action of the flatbed surface, or pulley device perpendicular to the hoisting force line of action of the pulley device Said movable pulley parts of 3-stage hook assembly (c1) are connected via a bilateral coupling plate (c3) the hook component (c7), the movable pulley part (c1) and both side connecting plate (c3) and the hinge axis ( c2) and the hinge axis (c4) of the both-side connecting plate (c3) and the hook component (c7) is provided in a direction perpendicular to the axis of the movable pulley of the movable pulley component (c1) , and The mobile crane according to claim 7, wherein the hinge shaft (c6) is provided in a direction parallel to the axis of the moving pulley of the moving pulley component (c1) . The angle formed in real time between the flat platform surface and the horizontal plane perpendicular to the line of action of the hoisting force of the pulley device is equal to the angle formed in real time as the hook angle between the line of action of the hoisting force of the pulley device and the vertical line, The angle between the straight line parallel to the line of action of the hoisting force and the vertical line is numerically equal to the hook angle in real time
A mobile crane according to claim 8 . The swinging state of the hook is detected by measuring the angle formed in real time between the flat platform and the horizontal plane perpendicular to the line of action of the hoisting force of the pulley device, and a dual-axis inclinometer is mounted on the flat platform to measure. After combining the X and Y axis components of the hook angle, a real-time hook angle can be obtained.
A mobile crane according to claim 9 . The direction of the hook angle is perpendicular to the real-time intersection line between the flat platform and the horizontal plane perpendicular to the line of action of the hoisting force of the pulley device, and the flat platform and the horizontal plane perpendicular to the line of action of the hoisting force of the pulley device. Angle in real time is in the same plane as the angle made in real time as the hook angle between the line of action of the pulling device hoisting force and the vertical line
The mobile crane according to claim 10 .

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